void FixedUpdate()
{
Vector2 pursueForce = follow.get(leaderPos, rb.velocity, targetVel);
Vector2 cgForce = congregate.get(cgPos, rb.velocity);
Vector2 sepForce = separate.get(Vector2.zero, rb.velocity);
Debug.DrawRay(transform.position, sepForce, Color.red);
Vector2 force = pursueForce * weights[0] + cgForce * weights[1] + sepForce * weights[2];
rb.AddForce(force);
if (rb.velocity.magnitude > maxSpeed)
{
rb.velocity = rb.velocity.normalized * maxSpeed;
}
float torque = face.get(Mathf.Atan2(rb.velocity.y, rb.velocity.x), rb.angularVelocity * Mathf.Deg2Rad);
rb.AddTorque(torque);
if (Mathf.Abs(rb.angularVelocity) * Mathf.Deg2Rad > maxOmega)
{
rb.angularVelocity = Mathf.Sign(rb.angularVelocity) * maxOmega * Mathf.Rad2Deg;
}
}